pcr32 datasheet 2014 -...

PCR32 Linear Stage PCR32

Features

● Travel to 135mm

● Encoder resolution to 5nm

● Center driven, non-contact

linear motor drive

● Precision cross roller bearing

● Low profile

● High bandwidth

● Small footprint

OverviewThe Primatics PCR32 Series positioning stages are the most compact of our linearstages. Ideal for demanding applications such as high precision alignment, attachmentand inspection, the PCR32 offers unparalleled flexibility and allows the user to fit aprecision stage into their most space restrictive applications.

Smooth TravelThe PCR32 delivers exceptionally smooth travel by utilizing anti-cage creep precisioncross roller bearings and a center driven brushless linear motor. Since neither thebearings or drivetrain utilize recirculating elements, the PCR32 offers the best of allworlds; smooth, velocity ripple-free motion without cage creep.

High BandwidthOversized cross rollers and a re-enforced linear motor forcer yield a positioning stagewith a very high natural frequency. This high bandwidth allows the PCR32 to step andsettle very quickly making it ideal for applications where the stage must keep a camerain focus while following a terrain.

More RobustLike the rest of the Primatics product family, the PCR32 is designed specifically for highthroughput 24/7 applications. The cross rollers of the PCR32 are preloaded againstmachined reference edges to insure no loss of preload over time.

Performance VerificationAll PCR32 performance specifications are verified with a laser interferometer system, anda full set of accuracy, repeatability, straightness and flatness plots are included with eachstage.

WWW.PRIMATICS.COM32114 Mallard Ave. Tangent, OR 97389 USA - Tel: 541.791.9678 - [email protected]

PCR32 with 135mm travel


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48.0 [1.89]

100.0 [3.94]CENTERED

48.0 [1.89]

14.0 [0.55]

145.0 [5.71]HARDSTOP TO HARDSTOP ENVELOPE

14.0 [0.55]

70.0 [2.76]CENTERED

70.0 [2.76]CENTERED

97.5 [3.84]

85.0 [3.35]

32.0 [1.26]

M4x0.7 TAP X 8.0[0.3] DP4 PLACES

MOTOR/HALL/ENCODERCABLES EXTEND APPROX. 890

[35] FROM END OF STAGE

THRU. & C’BORE FOR M4 SHCS FROMOPPOSITE SIDE

4 PLACES

Dimensions25mm travel


Dimensions135mm travel

50.0 [1.97] 50.0 [1.97]

48.0 [1.89]CENTERED

67.5 [2.66]

THRU. & C’BORE FOR M4 SHCSFROM OPPOSITE SIDE

8 PLACES

100.0 [3.94]CENTERED

67.5 [2.66]

355.0 [13.98]TRAVEL ENVELOPE

70.0 [2.76]CENTERED

70.0 [2.76]CENTERED

220.0 [8.66]

M4x0.7 TAP X 8.0[0.3] DP4 PLACES

MOTOR/HALL/ENCODER CABLESEXTEND APPROX. 890 [35] FROM

END OF STAGE

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Specifications Notes PCR32…0025 PCR32…0135 Travel (mm) 25 135 Positional Accuracy Over Total Travel (µm) 1, 2, 3 +/- 1 +/- 2 Mapped Accuracy Over Total Travel (µm) 1, 2, 3 +/- 0.3 +/- 0.3 Bi-Directional Repeatability (µm) 1 +/- 0.1 +/- 0.1 Flatness of Travel Over Total Travel (µm) 1, 3 +/- 0.75 +/- 2.0Straightness of Travel over Total Travel (µm) 1, 3 +/- 0.75 +/- 2.0

Pitch Angular Error (arc-sec) 8 18Yaw Angular Error (arc-sec) 8 18

Max Speed (mm/sec @ 10% duty cycle) 250 500Maximum Acceleration (G’s, unloaded) 0.3 0.3

Direct Loading Capacity (kg) 3 4.5 Pitch, Roll, Yaw Moment Capacity (N-m) 1.6 1.6 Stage weight (kg) 1.2 2.1

Notes: 1 - Measured 50mm above center of carriage; 2 - Slope corrected; 3 - Stage affixed to flat continuous surface.All specifications subject to change without notice.

Specifications

Parameter Notes ValueMotor Type Brushless Linear Motor

Continuous Force (N) 1 5 Continuous Current (Arms) 1 1.8 Peak Force (N-m) 2 27 Peak Current (Arms) 2 10 Force Constant (N/Arms) 2.75 Back EMF Constant (V/m/sec) 2.5 Winding Resistance (ohms) 1.57 Winding Inductance (mH) 0.45 Thermal Resistance (C/W) 4.8Magnetic pitch (mm) 22.86Hall Sensor Power 5 to 24VDC, 50mAHall Outputs Open collector, current sinking, 20mA max

EncoderEncoder power 5VDC +/- 5%, 150mAOutput DifferentialIndex Synchronized pulse, duration equal to one resolution bit

Limit SensorsLimit Power 5 to 24VDC, 50mAOutput - L1 and L2 options Current sinking, 100mA max

Motor / Encoder, Limit Data

Notes: 1 - At 25°C maximum temperature rise; 2 - At 10% duty cycle and 1 second maximum. All specifications subject to change without notice.


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ConnectorsServo Motor (option M2)

Connector: Cannon 192926-0480Size 20, 28 pins

Pin Function

A Motor Phase A

B Motor Phase B

C Motor Phase C

D Motor Shield

E Encoder 5V

F Encoder Ch A+

G Encoder Ch A-

H Encoder Ch B+

J Encoder Ch B-K Encoder Shield

L Not Used

M Reference for Temp Sensor

N Not Used

P Not Used

R Not Used

S Signal Shield

T Hall V+

U Hall V-

V Encoder Power Return

W Encoder Ch I+

X Encoder Ch I-

Y Forward Limit - Activates at Full Forward Travel

Z Reverse Limit - Activates at Full Reverse Travel

a KEY

b Hall A

c Hall B

d Temp Sensor

e Hall C

Motor Commutation (option M2)

Phase A Phase B Phase C

Hall C

Hall B

Hall A


WWW.PRIMATICS.COMRevised: 11 Jun 2015

PCR32 Model ConfigurationPCR32 AL 0025 A D3 L1 E0 B1 P1Example:

Model Series

Base MaterialAL: Aluminum

Travel0025: 25m

0135: 135mm

DrivetrainBrushless linear motor

Limit SensorsL1: N.C., Current sinkingL2: N.O., Current sinking

EncoderE0: Analog 1V SIN-COS

E1: 50nm digitalE2: 100nm digital

E9: 5nm digital

CounterbalanceB1: no counterbalance

ProtectionP1: Class 10,000

Customization (optional)-M: Mapped Accuracy

Not all configurations are valid - consult factory for assistance

Model DescriptionCABLE-SERVO-STAGE-PIGTAIL Connects to stage at one end, other end is un-terminated. 12 ft standard

CABLE-SERVO-STAGE-DMC40X0-I200 Cable assembly for use with Galil DMC-40x0-I200 with trap servo drives. 12 ft standard.CABLE SERVO STAGE MC4U W/HALLS

Cable assembly for use with ACS MC4U. 12 ft standard.

CABLE-SERVO-ACS-CMNT-DIG Cable assembly for use with ACS CMnt. 12 ft standard.

Accessories

Linear BearingA: Anti-cage creep, cross roller

pcr32 datasheet 2014 -...

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